履带机器人行走及越障能力分析与实现.-毕业论文.docx

本科生毕业论文 题目：履带机器人行走及越障能力 分析与实现 履带机器人行走及越障能力分析与实现 摘　　要 近些年来，社会各界对机器人的需求越来越高，随着机器人技术在快速的发展，出现了很多优秀的机器人，其中履带机器人以他良好的适应性能，被广泛的应用。 以履带机器人JAGUAR V2为研究对象，分析履带机器人的机械构造，研究其运动学性能，实现了履带机器人攀爬楼梯和基于激光扫描仪的避障行驶。对两种路况进行了研究，具体工作如下： （1）履带机器人攀爬楼梯：研究了履带机器人攀爬楼梯过程中的运动姿态以及需要满足的运动学条件，履带机器人前臂与楼梯夹角、前臂抬升车身需要转动的角度等，并用C#语言编程，在JAGUAR V2平台上进行实验。 （2）履带机器人避障行驶：研究了激光扫描的处理处理方法，根据实际情况比较后，采用DBSCAN算法处理点云数据，MATLAB仿真算法处理数据效果，并用C#语言编程，在JAGUAR V2平台上进行实验。 关键词:履带机器人；激光扫描；避障；攀爬楼梯；DBSCAN算法  Analysis and Realization of Crawler Robots Walking and Obstacle Crossing Ability ABSTRACT In recent years, the demand for robots from all sectors of society is increasingly high. With the rapid development of robot technology, many excellent robots have emerged, among which the crawler robot has been widely used due to its good adaptability. Taking the tracked robot JAGUAR V2 as the research object, the mechanical structure of the tracked robot was analyzed, and its kinematics performance was studied. The two kinds of road conditions are studied, and the specific work is as follows: (1) Crawler robot climbing stairs: this paper studied the movement posture of crawler robot climbing stairs and the kinematics conditions to be met, such as the Angle between the crawler robots forearm and the stairs, and the Angle of the forearm lifting body to be rotated, etc., and carried out the experiment on JAGUAR V2 platform with C# language programming. (2) The crawler robot avoids obstacles: the processing method of laser scanning was studied. According to the comparison of actual situation, DBSCAN algorithm was used to process point cloud data and MATLAB simulation algorithm was used to process data effect. The experiment was carried out on JAGUAR V2 platform with C# language programming. Key words：Crawler robot; Laser scanning; Obstacle avoidance; Climb the stairs; DBSCN algorithm  目　　录 TOC \o 1-3 \h \z \u 1　绪论 1 1.1　研究背景 1 1.2　国内外研究现状 1 1.3　本文研究内容及意义 2 1.4　“非技术因素”影响 2 1.5　本文内容安排 2 2　JAGUAR V2平台介绍 4 2.1　履带